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mrpt::obs::detail Namespace Reference

Classes

struct  TLevMarData
 

Functions

template<class POINTMAP >
void project3DPointsFromDepthImageInto (mrpt::obs::CObservation3DRangeScan &src_obs, POINTMAP &dest_pointcloud, const mrpt::obs::T3DPointsProjectionParams &projectParams, const mrpt::obs::TRangeImageFilterParams &filterParams)
 
template<class POINTMAP >
void do_project_3d_pointcloud (const int H, const int W, const float *kys, const float *kzs, const mrpt::math::CMatrix &rangeImage, mrpt::utils::PointCloudAdapter< POINTMAP > &pca, std::vector< uint16_t > &idxs_x, std::vector< uint16_t > &idxs_y, const mrpt::obs::TRangeImageFilterParams &filterParams, bool MAKE_DENSE)
 
template<class POINTMAP >
void do_project_3d_pointcloud_SSE2 (const int H, const int W, const float *kys, const float *kzs, const mrpt::math::CMatrix &rangeImage, mrpt::utils::PointCloudAdapter< POINTMAP > &pca, std::vector< uint16_t > &idxs_x, std::vector< uint16_t > &idxs_y, const mrpt::obs::TRangeImageFilterParams &filterParams, bool MAKE_DENSE)
 
void cam2vec (const TCamera &camPar, CVectorDouble &x)
 
void vec2cam (const CVectorDouble &x, TCamera &camPar)
 
void cost_func (const CVectorDouble &par, const TLevMarData &d, CVectorDouble &err)
 

Function Documentation

void mrpt::obs::detail::cam2vec ( const TCamera camPar,
CVectorDouble x 
)
void mrpt::obs::detail::cost_func ( const CVectorDouble par,
const TLevMarData &  d,
CVectorDouble err 
)
template<class POINTMAP >
void mrpt::obs::detail::do_project_3d_pointcloud ( const int  H,
const int  W,
const float *  kys,
const float *  kzs,
const mrpt::math::CMatrix rangeImage,
mrpt::utils::PointCloudAdapter< POINTMAP > &  pca,
std::vector< uint16_t > &  idxs_x,
std::vector< uint16_t > &  idxs_y,
const mrpt::obs::TRangeImageFilterParams filterParams,
bool  MAKE_DENSE 
)
inline
template<class POINTMAP >
void mrpt::obs::detail::do_project_3d_pointcloud_SSE2 ( const int  H,
const int  W,
const float *  kys,
const float *  kzs,
const mrpt::math::CMatrix rangeImage,
mrpt::utils::PointCloudAdapter< POINTMAP > &  pca,
std::vector< uint16_t > &  idxs_x,
std::vector< uint16_t > &  idxs_y,
const mrpt::obs::TRangeImageFilterParams filterParams,
bool  MAKE_DENSE 
)
inline
template<class POINTMAP >
void mrpt::obs::detail::project3DPointsFromDepthImageInto ( mrpt::obs::CObservation3DRangeScan src_obs,
POINTMAP &  dest_pointcloud,
const mrpt::obs::T3DPointsProjectionParams projectParams,
const mrpt::obs::TRangeImageFilterParams filterParams 
)

Definition at line 22 of file CObservation3DRangeScan_project3D_impl.h.

References ASSERT_, ASSERT_EQUAL_, mrpt::utils::TColor::B, mrpt::obs::CObservation3DRangeScan::cameraParams, mrpt::obs::CObservation3DRangeScan::cameraParamsIntensity, mrpt::poses::CPose3D::composeFrom(), mrpt::utils::TCamera::cx(), mrpt::utils::TCamera::cy(), do_project_3d_pointcloud(), do_project_3d_pointcloud_SSE2(), mrpt::obs::TRangeImageFilter::do_range_filter(), mrpt::obs::CObservation3DRangeScan::doDepthAndIntensityCamerasCoincide(), mrpt::utils::TCamera::fx(), mrpt::utils::TCamera::fy(), mrpt::utils::TColor::G, mrpt::utils::CImage::get_unsafe(), mrpt::utils::CImage::getHeight(), mrpt::poses::CPose3D::getHomogeneousMatrixVal(), mrpt::poses::CPose3D::getRotationMatrix(), mrpt::utils::CImage::getWidth(), mrpt::obs::CObservation3DRangeScan::hasIntensityImage, mrpt::obs::CObservation3DRangeScan::hasRangeImage, mrpt::math::homogeneousMatrixInverse(), mrpt::obs::CObservation3DRangeScan::intensityImage, mrpt::utils::CImage::isColor(), mrpt::obs::CObservation3DRangeScan::TCached3DProjTables::Kys, mrpt::obs::CObservation3DRangeScan::TCached3DProjTables::Kzs, mrpt::obs::CObservation3DRangeScan::m_3dproj_lut, mrpt::poses::CPose3D::m_coords, mrpt::obs::T3DPointsProjectionParams::MAKE_DENSE, mrpt::obs::CObservation3DRangeScan::points3D_idxs_x, mrpt::obs::CObservation3DRangeScan::points3D_idxs_y, mrpt::obs::CObservation3DRangeScan::TCached3DProjTables::prev_camParams, mrpt::obs::T3DPointsProjectionParams::PROJ3D_USE_LUT, mrpt::utils::TColor::R, mrpt::obs::CObservation3DRangeScan::range_is_depth, mrpt::obs::CObservation3DRangeScan::rangeImage, mrpt::obs::TRangeImageFilterParams::rangeMask_max, mrpt::obs::TRangeImageFilterParams::rangeMask_min, mrpt::obs::CObservation3DRangeScan::relativePoseIntensityWRTDepth, mrpt::obs::CObservation3DRangeScan::resizePoints3DVectors(), mrpt::obs::T3DPointsProjectionParams::robotPoseInTheWorld, mrpt::utils::round(), mrpt::obs::CObservation3DRangeScan::sensorPose, mrpt::obs::T3DPointsProjectionParams::takeIntoAccountSensorPoseOnRobot, and mrpt::obs::T3DPointsProjectionParams::USE_SSE2.

Referenced by mrpt::maps::CColouredOctoMap::internal_insertObservation(), and mrpt::obs::CObservation3DRangeScan::project3DPointsFromDepthImage().

void mrpt::obs::detail::vec2cam ( const CVectorDouble x,
TCamera camPar 
)



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